mirror of
https://github.com/infiniteCable2/openpilot.git
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Vehicle Researcher
ad0a7dc47e
b42db6d Merge pull request #82 from commaai/uart_dma fd68f86 smallr be99ffc ok that doesn't hurt i think a9f6bf0 this 8b7e849 working now 7fa4808 froze up, maybe thats the fix 1465aa4 ok, it's fixed 915cd84 ugh, ok, need that fd05376 comment out debug 37c5263 big fifo 497f069 dma is all critical, no interrupts 7c34afe minor change 743d244 high baud rate works 5d2a4ba v1.0.6 fbf1390 Toyota Safety: fix in input param 6c01d09 Toyota: less torque error allowance to meet Corolla acceptable behavior 07c01b2 Toyota safety: using input param 4410a59 add safety param support fc81fc1 uart dma in progress 65fb2b2 grey panda query, 1.0.5 f415c9a grey panda detection b68957e add pandadebug support b5e4962 leave msgs around in isotp 0acce2d add recvaddr support 3fc38f4 set bootmode with power d4c052a make that work 21f8195 fix panda serial write af74aa9 from python import git-subtree-dir: panda git-subtree-split: b42db6dc082fb13ef5ac63ed197a63e179651ef6 old-commit-hash: 96f8e5158e15ddfa62495dce0b1dfc0bcd3c14d3
142 lines
3.1 KiB
C
142 lines
3.1 KiB
C
#ifndef PANDA_DRIVERS_H
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#define PANDA_DRIVERS_H
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// ********************* LLGPIO *********************
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#define MODE_INPUT 0
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#define MODE_OUTPUT 1
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#define MODE_ALTERNATE 2
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#define MODE_ANALOG 3
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#define PULL_NONE 0
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#define PULL_UP 1
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#define PULL_DOWN 2
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void set_gpio_mode(GPIO_TypeDef *GPIO, int pin, int mode);
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void set_gpio_output(GPIO_TypeDef *GPIO, int pin, int val);
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void set_gpio_alternate(GPIO_TypeDef *GPIO, int pin, int mode);
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void set_gpio_pullup(GPIO_TypeDef *GPIO, int pin, int mode);
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int get_gpio_input(GPIO_TypeDef *GPIO, int pin);
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// ********************* USB *********************
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// IRQs: OTG_FS
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typedef union {
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uint16_t w;
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struct BW {
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uint8_t msb;
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uint8_t lsb;
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}
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bw;
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}
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uint16_t_uint8_t;
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typedef union _USB_Setup {
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uint32_t d8[2];
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struct _SetupPkt_Struc
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{
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uint8_t bmRequestType;
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uint8_t bRequest;
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uint16_t_uint8_t wValue;
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uint16_t_uint8_t wIndex;
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uint16_t_uint8_t wLength;
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} b;
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}
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USB_Setup_TypeDef;
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void usb_init();
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int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired);
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int usb_cb_ep1_in(uint8_t *usbdata, int len, int hardwired);
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void usb_cb_ep2_out(uint8_t *usbdata, int len, int hardwired);
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void usb_cb_ep3_out(uint8_t *usbdata, int len, int hardwired);
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void usb_cb_enumeration_complete();
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// ********************* UART *********************
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// IRQs: USART1, USART2, USART3, UART5
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#define FIFO_SIZE 0x400
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typedef struct uart_ring {
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uint16_t w_ptr_tx;
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uint16_t r_ptr_tx;
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uint8_t elems_tx[FIFO_SIZE];
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uint16_t w_ptr_rx;
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uint16_t r_ptr_rx;
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uint8_t elems_rx[FIFO_SIZE];
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USART_TypeDef *uart;
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void (*callback)(struct uart_ring*);
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} uart_ring;
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void uart_init(USART_TypeDef *u, int baud);
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int getc(uart_ring *q, char *elem);
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int putc(uart_ring *q, char elem);
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int puts(const char *a);
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void puth(unsigned int i);
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void hexdump(const void *a, int l);
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// ********************* ADC *********************
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void adc_init();
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uint32_t adc_get(int channel);
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// ********************* DAC *********************
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void dac_init();
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uint32_t dac_set(int channel, uint32_t value);
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// ********************* TIMER *********************
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void timer_init(TIM_TypeDef *TIM, int psc);
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// ********************* SPI *********************
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// IRQs: DMA2_Stream2, DMA2_Stream3, EXTI4
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void spi_init();
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int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out);
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// ********************* CAN *********************
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// IRQs: CAN1_TX, CAN1_RX0, CAN1_SCE
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// CAN2_TX, CAN2_RX0, CAN2_SCE
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// CAN3_TX, CAN3_RX0, CAN3_SCE
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typedef struct {
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uint32_t w_ptr;
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uint32_t r_ptr;
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uint32_t fifo_size;
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CAN_FIFOMailBox_TypeDef *elems;
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} can_ring;
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#define CAN_BUS_RET_FLAG 0x80
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#define CAN_BUS_NUM_MASK 0x7F
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#ifdef PANDA
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#define BUS_MAX 4
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#else
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#define BUS_MAX 2
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#endif
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extern int can_live, pending_can_live;
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// must reinit after changing these
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extern int can_loopback, can_silent;
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extern uint32_t can_speed[];
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void can_set_forwarding(int from, int to);
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void can_init(uint8_t can_number);
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void can_init_all();
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void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number);
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int can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem);
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#endif
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